Wheeled Vehicle Adaptive Speed Control Method and System

This is a Continuation of U.S. patent application Ser. No. 17/269,789, filed Feb. 19, 2021, which application is a U.S. National Phase Application under 35 U.S.C. 371 of International Application No. PCT/US2019/047046, filed on Aug. 19, 2019 and published as WO 2020/041188 A1 on Feb. 27, 2020, which claims the benefit of U.S. Provisional Patent Application No. 62/765,321 filed on Aug. 20, 2018. This application also corresponds to International Application No. PCT/US2019/047052, filed on Aug. 19, 2019 and published as published as WO 2020/041191 A1 on Feb. 27, 2020, now U.S. patent application Ser. No. 17/269,827, filed Feb. 19, 2021, The entire disclosures of all of the above applications are incorporated herein by reference.

This present disclosure relates to a vehicle, and particularly to a wheeled vehicle, especially a wheeled vehicle with less than four wheels, and operational components therefore.

This section provides background information related to the present disclosure which is not necessarily prior art.

A vehicle to move a payload, such as an operator or rider, includes a power plant, such as an engine. The vehicle may include various controls, such as a throttle and brake systems. The control systems are generally operated manually by the operator. The vehicle may include a two-wheeled vehicle that is generally substantially manually operated.

This section provides a general summary of the disclosure, and is not a comprehensive disclosure of its full scope or all of its features.

Disclosed herein is a motorcycle assembly for operation by rider. The rider may operate the motorcycle to travel along an intended path on a surface. The surface may include a road surface which may be shared with other objects, such as other motorcycles or other vehicles such as 4 wheel vehicles.

10 10 In various embodiments the motorcyclemay include one or more sensors to sense an environment exterior to the motorcycle. For example various ranging assemblies such as radar assemblies, laser ranging (lidar) assemblies, or the like may be used to measure distances to exterior objects, speed or change in speed of exterior objects, positions of exterior objects, or the like. Based upon the sensed objects the various systems of the motorcycle may be automatically operated and/or changed to provide information to the rider, information to operators of the exterior vehicles, or the like.

The motorcycle may further include notification that may be provided to operators external to the motorcycle. For example visual notifications, such as flashing lights, may be provided to exterior vehicle operators. Auditory notifications may also be provided, such as from a motorcycle horn, speaker, etc. Various signals may also be sent to selected vehicles, such as with a generally available communication to a selected vehicle to alert a driver and/or autonomous driver system of the presence of the vehicle. The notifications may be provided based upon automatic determinations due to sensed positions, speeds, or the like of vehicles relative to the motorcycle.

Further the motorcycle may include a constant speed or cruise control. The cruise control may be operated automatically or with input from various sensors on the motorcycle. The sensors may operate to determine positions of the motorcycle relative to other vehicles, such as other motorcycles and/or other non-motorcycle vehicles. The cruise control may be operated substantially without further rider input to maintain a selected or predetermined distance between the motorcycle or other objects.

The two-wheeled vehicle, as disclosed herein, may provide automatic feedback and/or notifications to the rider and external operators regarding the presence of the two-wheeled vehicle and/or position and speed of external vehicles. The notifications may assist in providing awareness to the rider of the external vehicles and vice-versa. Further, sensor inputs may allow for automatic operation of various controls of the two-wheeled vehicle.

Further areas of applicability will become apparent from the description provided herein. The description and specific examples in this summary are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure.

Corresponding reference numerals indicate corresponding parts throughout the several views of the drawings.

Example embodiments will now be described more fully with reference to the accompanying drawings.

1 FIG. 10 10 With initial reference to, a vehicle is exemplarily illustrated. The vehicle may include a two wheeled vehicle, which may generally be referred to as a motorcycle. The motorcyclemay be any appropriate motorcycle, such as the Chieftain® motorcycle or the Roadmaster® motorcycle, both sold by Indian Motorcycle International, LLC having a place of business in Medina, Minnesota. In various embodiments, the motorcycle or vehicle may be similar to the vehicle disclosed in U.S. Patent App. Publication 2016/0298807. Other selected motorcycle wheeled vehicles may include those with two-wheels or three-wheels and may also be referred to as a motorcycle, such as an autocycle, Freewheeler® tri-cycle motorcycle sold by H-D U.S.A. LLC, Spyder three-wheeled vehicle sold by Can-Am Bombardier Recreational Products Inc., or the Slingshot® three-wheeled vehicle sold by Polaris Inc. having a place of business in Minnesota.

10 12 14 12 14 12 14 10 16 16 16 12 14 Generally, the motorcycleincludes a first or front wheel assemblyand a second or rear wheel assembly. Both of the wheels,may be provided as wheel assemblies that include a tire, rim, and other generally know components. The wheels,may engage or roll on a road surface or ground or other appropriate surface during operation of the motorcycleand may rotate relative to a frame assembly or structure. It is understood that the frame assemblymay include various components, including metal tubing, the engine and/or connections to the engine, and similar components that are connected to other components. The frame assemblymay have a front portion to which the front wheel assemblyis connected and the rear portion to which a rear wheel assemblyis connected.

10 12 14 10 10 14 10 The motorcycle, or vehicle, may include only the two wheel assemblies,. The motorcycle, therefore, may be only a two wheeled vehicle. In various embodiments, the vehiclemay be only single wheel driven, such as only driven by the rear wheel assembly. Thus, the motorcyclemay include only two wheels and be only rear wheel driven.

16 18 24 20 16 16 16 28 10 Additional components connected to the frame assemblymay include suspension components, which may include a fork assembly having springs therein, and a handlebar. Further, a fairing componentsmay be connected to the frame assembly, and may be moveable or fixed relative to the frame. Further, the framemay support a seat or seat assemblythat may be used by an operator to sit on the vehicleduring operation.

16 40 40 42 44 10 10 40 40 14 44 The framemay hold or support an engine. The enginemay include various components, such as those discussed further herein, and be a part of a powertrain assembly, which may further include transmission components or assembly. It is understood that various other components may be incorporated into the vehicle, such as those generally understood in the art, to allow operation of the vehicleby a user, also referred to as an operator. The user may operate the vehicle, such as control the engine, for transferring power from the engineto one or more of the wheels, such as the rear wheelassembly, through the transmission.

40 40 50 40 52 54 40 In various embodiments the enginemay include an engine such as a Thunderstroke® engine sold by Indian Motorcycle International, LLC having a place of business in Medina, Minnesota. The enginemay include a spark ignition engine, where a spark ignites a petroleum product, such as gasoline, to move pistons. The gasoline, or other appropriate fuel, may be held first in a fuel tankfor delivery to the engine. Air may be used in combusting of the fuel and initially enters the engine assembly by an air intake. A throttle controlmay be operated (e.g. twisted) by the operator to control a throttle body associated with the engine.

10 60 12 10 140 66 68 60 The motorcyclemay further include brake assemblies, such as a front disk brake assemblyassociated with the front wheel assembly. It is understood by those skilled in the art that the rear wheel assembly may include a rear disk brake assembly. The rear brake assembly may be covered by various components of the motorcycle, such as saddlebags. The brake assemblies may be manually operated by the operator by brake controls. In various embodiments, a handle levermay be actuated (e.g. squeezed toward a grip) to actuated the front brake assembly.

60 70 72 70 12 12 72 70 18 72 70 12 60 r The front brake assemblymay include a brake discand a brake caliper assembly. As is understood in the art, the discis connected to a rimof the wheel assembly. The brake caliper assemblyis fixed relative to the disc, such as to a portion of the suspension assembly. The brake caliper assemblymay be operated to squeeze the diskto slow and/or stop rotation of the wheel assembly. A similar process may operate to slow the rear wheel assembly. The brake assemblies, such as the front brake assembly, however, may also use an alternative braking apparatus. For example, drum brakes or other braking systems may be used. Further, operation of the braking systems may be in any appropriate manner such as with a mechanical cable, a hydraulic braking system, or the like.

40 54 10 272 40 200 272 90 44 40 10 10 10 4 FIG. Operation of the engine, such as to create acceleration or deceleration of the engine may be performed independently and/or cooperatively with the braking system. For example, as noted above, the throttlemay be operated to increase the engine speed. An increase in engine speed may cause an increase in the vehicle speed of the motorcycle. In various embodiments, an engine control unit (ECU)may control the enginebased on inputs from the rider(). The ECUand various controls, such as the fuel injectors, may be powered by a battery. It is further understood that various gear selections in the transmission assemblymay also operate to alter or change the engine speed of the engineand/or speed of the motorcycle. As discussed further herein the various components, such as the brake assemblies and engine speed control assemblies may be used to alter a speed of the motorcycle. The operation of these controls may be substantially manual by an operator. In addition to or alternatively to manual operation, various systems may also be controlled substantially automatically such as by receiving input from various systems, as discussed herein, and executing instructions to achieve a selected result and speed of the motorcycle.

10 10 90 The motorcycle, therefore, may further include components that are operable or configured to execute instructions as discussed further herein. The motorcycle, therefore, may include one or more electrical sources such as a batterythat may be charged with a charging system that may include an alternator and/or a stator assembly.

10 10 20 100 102 104 102 104 10 106 108 110 In addition to the various assemblies, including the control systems as discussed above, the vehiclemay further include augmentation or accessory systems and/or accessory items. As discussed above, the motorcyclemay include fairing componentsas discussed further herein, and briefly including a headlight or main lightand one or more auxiliary or passing lightsand. The auxiliary lights,may also be turning lights or indicators and/or hazard indicators. Additionally the motorcyclemay include a rear or brake lightand one or more auxiliary or turn signal indicatorsand.

20 1121 112 10 120 120 122 120 120 140 142 144 140 146 140 140 r 1 FIG. The fairing componentmay further include hand guard or lateral portions, such as a left handguardand a right handguard. The motorcyclemay further include a lower fairing or lower fairing components. The lower fairingsmay surround and/or include highway or engine case bars. In various embodiments, the lower fairingmay include compartments or volumes that may be enclosed within the lower fairing. Further accessories may include one or more saddlebags. The saddlebags may include various components such as a hingeand a lock or catch assembly. The saddlebagsmay be of an appropriate design or selected design, such as a substantially hard case or semi-rigid case that includes a wallof the saddlebagthat may maintain a selected shape, as illustrated in, under a selected pressure, such as during travel. The saddlebagmay define an internal volume, as discussed further herein.

20 120 140 10 10 In various embodiments, the fairing assembly, the lower faring assembly, and/or the saddlebagmay define compartments or have compartments that include various components or assemblies, as discussed further herein. In various embodiments, the motorcyclemay include selected cameras, sensors, emitter arrays, or the like, that may be positioned in the various components to provide information to various assemblies on the motorcycle.

1 FIG. 2 FIG. 3 FIG. 4 FIG. 10 20 20 150 150 152 154 20 160 160 200 28 160 10 160 160 200 160 200 200 10 160 160 200 160 162 160 162 160 With continuing reference to, and additional reference toand, the motorcyclemay include a rider facing or rear facing portion of the fairing assembly. The rider facing portion of the fairing assemblymay include a rider facing side or surface. The rider facing sidemay include various gauges, such as a speedometerand a tachometer. In various embodiments, the fairing assemblymay further include a selectable display, such as a Ride Command® video display sold by Polaris Industries Inc. A selection may be made such that the displaymay selectively display various information to the rider() whom is seated in the seatin a selected manner. It is understood by one skilled in the art that the displaymay be incorporated in various components of the motorcyclealternatively or in addition to the displayin the fairing, for example rearview mirrors. The displayis mounted, generally, to allow the riderto view the display devicewithout turning a head of the rider. That is, the riderneed not turn the rider's head from a direction forward of the motorcycle. The selection for information to display with the displaymay be manually, automatically, or with a combination of automatic and manual input. The video displaymay display information that may be selected by the rider, such as when the displayincludes a touch screen, such as with the Ride Command® touchscreen display and control. Further, various input or selection buttons or manual controlsmay also be provided to control the display. The controlsmay be soft buttons that are programmable and provide manual input based upon an identification on the display.

650 As discussed herein, the various systems, such as cameras, sensors (e.g. radar, lidar, lean) may be connected to selected systems of the vehicle in an appropriate manner. For example, cameras for backup and/or blindspot viewing and detection may be directly wired into the display as a video input. The display may then receive inputs to display images from the selected cameras. Other systems, such as for cruise control and/or adjustable cruise control, various systems and sensors (e.g. brake controller, Inertial Monitoring Unit (IMU), radar, lidar, camera) may be connected to a high speed communication bus that is connected to the engine controller (ECU).

160 170 120 170 120 170 2 FIG. 3 FIG. In various embodiments, the displaymay be a video display that displays a recorded or live video or picture feed from a selected camera. With continuing reference to, and additional reference to, a cameramay be mounted in the lower fairing assembly. The cameramay include a lens or portal through a portion of the lower fairingto allow a selected wave length of light, such as visible light, infrared light, or other selected type of light, to reach a sensor of the camera. The camera may be any appropriate selected type of camera, such as a camera having part number PCC-15501, sold by Protech Global Solutions, LP having a place of business in El Paso, TX.

170 160 170 160 272 170 The cameramay be connected to the displayin a selected manner, such as directly via a wired connection, directly via a wireless connection, or indirectly such as through a selected processing system or unit. Selected communication protocols may include a controller area network (CAN) bus. In various embodiments the cameramay be connected with a controller or processing system or connected directly to the displayvia a video connection thereto. The processor may be incorporated and/or in communication with an engine control unit (ECU). Alternatively, or in addition thereto, a camera control processor may be provided with the camera.

170 10 160 170 172 160 The cameramay be used to capture an image of a selected area, such as an area behind and/or to a side of the motorcycle. The captured image may then be displayed on the displayas either a still (e.g. single image) or a plurality of images (e.g. a video display at a selected frame rate). The cameramay include a selected sensor such as a charge couple device (CCD) or a complementary metal-oxide semiconductor (CMOS), or other appropriate type of detector. The detector may detect light captured or transmitted through the lens assemblythat is then incorporated into the displayfor viewing by the rider.

160 160 170 170 10 170 170 In various embodiments, the display of the display devicemay be a live display and/or a display of a saved image. Accordingly, the display devicemay be used to display live images from the cameraand/or display recorded and saved images from the camera. Further, the motorcyclemay include a memory system, such as included with the camera, to record a selected number of images captured by the camera, such as a selected amount of time of video display and/or selected number of still images.

In various embodiments, images or video captured with the camera may be saved to a selected memory for a selected period of time. For example, the rider may select that the images be stored at a selected rate for a selected time, such as on image every 1 minute. Further, image or videos may be saved until space in memory is filled and/or they are deleted by a user. Further, recorded images may be accessed and/or moved to a memory separate from the motorcycle. In various embodiments, a controller may be programmed to automatically store a selected amount of video and/or begin recording when a possible or imminent collision is about to occur. Thus, the images and video may be saved for review after a selected period of time.

170 120 170 170 1121 112 140 172 170 146 140 10 10 r Although the camerais illustrated in the lower fairing assembly, it is understood that the cameramay include a plurality of cameras that may be also mounted in other locations. The cameramay alternatively be mounted and/or include additional cameras that are mounted near the handguard areas,and/or in the saddlebags. For example, the lensof the cameramay be positioned through a wallof the saddlebagto capture images of a lateral side relative to the motorcycleand/or to a rear of the motorcycle.

4 FIG. 170 200 200 10 12 204 204 204 205 205 170 170 204 204 170 170 10 140 170 170 10 170 170 170 10 10 170 170 200 204 205 200 204 205 a a b b b b c c With additional reference to, the placement of the camera, such as the camera, allows for a view, such as a lateral or rearward view in areas or regions not generally viewable (e.g. blind spot) by the rider. For example, the ridermay be in a riding position relative to the motorcycle, such as facing forward and the front wheel assembly, and a mirrormay have a first viewing cone or volume′. The viewing volume′, however, may not include a selected region or volume, which is generally understood or referred to as a blind spot. A second mirrormay also have a viewing cone′. The camera, however, may include a viewing cone or volume′ that encompasses or includes at least a portion of a blind spot or covers an area or volume different than the viewing volume′ of the mirror. In various embodiments, as discussed above, a second cameramay be included that has a second viewing volume′. Additionally, as discussed above, the motorcyclemay include one or more saddlebagsthat may include a camerathat may also have a field of view′ that may include generally an area or region to a side and/or rear of the motorcycle. The specific viewing angle of the cameramay depend on lens type and view angle and placement of the camera. Further, a rear facing cameramay be provided and mounted to the motorcycle, such as at the fender of the motorcycle. In various embodiments, the rear cameramay be mounted to a bracket connected to a fender, a license plate holder, saddlebag mounting bracket, etc. Accordingly, one or more of the camerasmay have views relative to the motorcycle that are not easily viewable by the riderand/or the mirrors,even when the rideris viewing the reflection in the mirrors,.

2 FIG. 4 FIG. 170 160 160 160 170 160 With reference toand, the views of the selected camerasmay be displayed on the display screen or display device. The display devicemay have a selected portion of the displaythat is dedicated or selected to display the view of one or more of the camerasand/or the entire displaymay be dedicated when selected to display the view from a selected camera.

160 200 200 160 In various embodiments, different one or more cameras may be selected to provide a view to displaybased upon input from the rider. For example, with reference to table 1 below, various inputs from the ridermay cause the display deviceto display a view of one of the cameras.

TABLE 1 Sensed and/or Rider Input Display Camera Right Turn indicator and/or right lean Right Camera view Left Turn Indicator and/or Left Lean Left Camera view Negative Velocity Rear Camera view

10 200 170 160 10 170 160 200 210 170 170 200 200 204 160 170 160 170 10 With reference to Table 1, the motorcyclemay include turn signals or turn signal indicator switch. If the riderinputs a right turn indicator, a right camera view, for example, the camera, may be activated and its view displayed on the display device. Further various lean detection mechanisms, as discussed herein, may sense or determine a selected amount of lean of the motorcycle, which may also be used or alternatively be used to select a view of the camera. The right camera being displayed on the display devicemay assist the riderin determining whether a vehicle, such as another motorcycle, automobile, or the like, for example an objectis in the view cone or area′. The area′ may include a “blind spot” that is not directly viewable by the riderwithout turning the rider'shead, even when viewing the mirror. The displaymay automatically switch to display the view of the camerawhen the right indicator is indicated or activated. Accordingly, during a right hand lane change, right hand turn, or other right hand operation or right movement operation, the display screenmay display items viewable by the cameraon the right side of the motorcycle.

170 160 200 170 160 200 170 205 200 10 170 200 10 10 a a a a Similarly, when a left turn indicator is operated or activated, a left cameramay have its view displayed on the display device. Similarly, therefore, when the rideroperates the switch to indicate a left turn, the left camera having a view of the left cameradisplayed on the display devicemay allow the riderto view the area′ which may not even be viewable by a mirror reflection′ and/or easy movement of a head of the rider. Further various lean detection mechanisms, as discussed herein, may sense or determine a selected amount of lean of the motorcycle, which may also be used or alternatively be used to automatically select a view of the camera. The ridermay also maintain a forward facing viewpoint while viewing other areas around the motorcycleto allow for ease and efficient operation of the motorcycle.

10 10 170 160 200 10 200 160 10 b Further the motorcyclemay include various inputs, sensors, and controls that may determine a velocity of the motorcycle, including a negative velocity and/or other system status such as sensing a down shift, brake input (pressure or mechanical), clutch disengaged (such as for a selected duration), decrease in throttle, or other appropriate speed related amounts. When a negative velocity is sensed or determined, a rear cameramay have its view displayed on the display device. In various embodiments, as the rideris moving the motorcyclein reverse or backwards, such as for parking or moving from a storage area, the ridermay view the display deviceto see a view of the area or volume to the rear of the motorcycle.

160 160 10 160 200 101 10 10 In various embodiments, however, all of the cameras may be displayed on the display deviceat various times, such as when a negative velocity is determined. For example, the display devicemay be divided into three portions to allow for a left, middle, and right rear view of the motorcycleon the display devicealternatively, various image stitching algorithms, generally known in the art, may be used to stitch two or more of images from the various cameras' images together into a single image. Thus, the displayed image or video image, may be a stitched image or video image to display an encompassing or panoramic view. This may allow the riderto view an entire area or have a large field of view, such as about 90 to about 180 degrees on both sides of a longitudinal axisof the motorcyclewhen moving the motorcyclein reverse.

170 170 10 170 10 160 160 170 10 200 Accordingly, the camerasmay be operated at a selected time, such as when an input is received from the rider and/or selected sensed input. Therefore, the camerasneed not be operated at all times that the motorcycleis on. It is understood, however, that the camerasmay be operated such that the cameras are always on when the motorcycleis on or in operation but that the display deviceonly selectively displays a view of one or more of the selected cameras based upon an input of the rider or a sensed input. Nevertheless, the displaymay display a view of one or more of the selected camerasto allow for ease or efficient operation of the motorcycleby the operator or rider.

170 10 200 200 10 10 In addition to the cameras, discussed above, other sensors may be attached or connected to the motorcycleas well. As discussed further herein, the additional sensors may assist in providing information to the riderthrough various rider feedback systems. The additional sensors and feedback systems may allow the riderto assess the environment around the motorcyclefor ease and efficient riding of the motorcycle.

10 250 140 250 10 250 140 252 141 250 252 140 141 250 140 140 141 250 252 1 FIG. 4 FIG. 5 FIG. In various embodiments, the motorcyclemay further include or be installed to include a rear facing radar assembly. With reference to,, and, a radar assemblymay be installed into the saddlebag. It is understood that the radar assemblymay include two radar assemblies, one installed on either side of the motorcycle, such as the radar assemblyin the saddlebagand a second radar assemblyin a second saddlebag assembly. The two radar assemblies,may be substantially identical other than identified as left and right. Similarly, the saddlebag assemblies,may be substantially identical other than being a left and right as well. Accordingly, the discussion herein of the radar assemblyand the saddlebagwill relate to either or both of the saddlebag assemblies,, and radar assemblies,, respectively unless specifically identified otherwise.

6 6 FIGS.A andB 260 250 140 250 252 10 250 11 10 10 With additional reference to, in various embodiments, a bracket memberis formed to interconnect at least the radar assemblywith at least one wall or bracket of the saddlebag assembly. Moreover, it is understood that only a single one of the radar assemblies,may be mounted to the motorcycle. For example, only the radar assemblymay be mounted on a rear fenderof the motorcycleto include a view of a volume behind the motorcycle.

140 260 146 140 10 16 260 250 10 250 260 262 146 140 250 252 250 252 250 252 250 252 In various embodiments, when mounted in the saddlebag, the bracketmay be mounted or fixed to the rigid walls. In addition or alternatively thereto, the saddlebagis mounted to the motorcycle, such as to the framewith one or more bracket assemblies. Accordingly, the radar bracketmay be mounted or fixed to the saddlebag bracket for fixation of the radar assemblyrelative to the motorcycle. Nevertheless, the radar assemblyis mounted or fixed to the bracketwhich may be fixed with one or more fastenersto the wallof the saddlebag assembly. It is understood, however, that the radar assemblies,need not be mounted to brackets. For example, if the saddlebag bracket and/or walls are of appropriate types, structure, etc. the radar assembly,may be fixed directly to the wall and/or bracket. For example, adhesives or adhesive materials (e.g. double sided tape) may be used to fix the radar assembly,to a surface. Thus, a hole or indent need not be made in the saddlebag or bracket to mount the radar assembly,.

260 260 260 264 260 250 10 250 10 250 260 266 250 260 When a bracket is used, the bracketmay be formed of a substantially rigid material such as a metal or metal alloy. In various embodiments, however, the bracketmay be formed of a selected polymer that does not interfere, such as absorb or reflect, radar waves. Various polymer materials may include Acrylonitrile butadiene styrene (ABS), glass filled nylon, etc. Further, the bracketmay include a selected shape or geometry, such as reinforcing ribs or membersto assist in providing rigidity to the bracket. In various embodiments, the radar assemblyis selectively fixed relative to the motorcyclesuch that there is minimal movement of the radar assemblyrelative to the motorcycleduring operation. Thus, the radar assemblymay be fixed to the bracketin a selected manner such as with one or more fastenersthat hold the radar assemblyto the bracket.

250 250 10 250 400 441 320 250 250 250 10 In various embodiments, the radar assemblymay include a radar emitter and a radar receiver. The radar assemblymay further include various processing systems that are configured to execute instructions to determine position, speed, change in speed, etc. of objects external to the radar assemblies and/or relative to the motorcycle. The radar assemblymay include radar systems such as the ARS, ARS, and/or the SRRradar systems, both sold by Continental AG, having a place of business in Michigan, USA. The radar assemblymay be configured to generate a radar signal and receive a reflected radar signal to determine a distance of a selected object, such as a motor vehicle, relative to the radar assembly. Various additional information may include an instantaneous speed (such as within a selected number of milliseconds from a report time) and/or a change in speed over a selected period of time. The radar assemblymay then generate a signal regarding the speed and/or position of the vehicle relative to the motorcyclefor further processing, as discussed further herein.

250 272 250 210 10 10 250 250 270 250 272 250 28 40 It is understood that the radar modulemay also only transmit a signal regarding the received radar signal reflected from an exterior vehicle in a surrounding environment. The selected processing, as discussed above and further herein, may be performed by additional or alternative onboard processors, such as processor system within or connected to the engine control unit (ECU). It is understood, therefore, that the radar modulemay include or selectively calculate the position, speed, etc., of exterior items, such as the item or object, relative to the motorcycle. Further information regarding average or instantaneous speed of the motorcyclemay be delivered to the radar unit. Transmission of information to the radar unitmay be wireless and/or wired, such as via a connectionsuch as with the CAN bus. In various embodiments, as discussed above, the radar assemblymay communicate with the ECUpositioned away from the radar assembly, such as below the seatand/or near the engine.

5 FIG. 4 FIG. 4 FIG. 250 280 280 290 210 290 10 280 250 290 250 290 282 10 210 290 With continuing reference toand additional reference tothe radar assemblymay emit a radar signal represented by curved lines. The radar signalmay encounter an object, such as an objectillustrated in, and/or the object. In various circumstances the objectmay be a motor vehicle that is moving toward the motorcycle. The radar signal, as is generally understood in the art, may be emitted by the radar assembly, encounter the object, and be reflected back to the radar assembly. The radar assembly, or a selected processing system, may determine a position and/or speed of the objectbased upon the reflective radar signal. The reflected radar signal may be represented as the reflected or returning lines. In various embodiments, the sensor assemblies may be operated to determine and measure different distances to different areas relative to the motorcycle. For example, the objectmay be closer than the objectand the sensor assemblies may be operated to determine the difference distances and determine actions, as discussed herein, differently based on the different distances.

160 170 300 300 170 160 300 250 252 272 160 310 314 7 FIG.A c As discussed above the displaymay display a view of one or more of the camerasbased upon a selected operation on input. For example, with reference to, a flowchart or logic diagramis illustrated. The flowchartmay be selectively operated in addition or alternatively to the logic illustrated and described in Table 1 above. In various embodiments, therefore, the rear camera, such as the rear camera, may have its display displayed on the display deviceand/or turned on or turned off. For example, with reference to the flowchart, the flow chart may be of an algorithm and related instructions for a processor (e.g. processor receiving a signal from the radar assembly,and/or a processor that is a portion of the ECU) to determine whether or not the displaydisplays the view of the rear camera in blockor does not display a view of the rear camera in block.

318 10 300 10 320 322 314 324 326 326 328 314 160 The method may include a start blockwhich may be starting operation or turning on the ignition of the motorcycle. The flowchartmay then determine whether the speed of the motorcycleis less than 5 miles per hour in block. If no, a NO pathis followed and a display of the rear camera is turned off in block. If the speed is less than 5 miles per hour, a YES pathis followed to a second optional determination block. In the second optional determination block, a determination of whether the clutch is pulled in and/or the motorcycle is in neutral is determine in block. If the clutch is not pulled in or the motorcycle is not in neutral, a NO pathis followed and the display of the rear camera is turned off or not displayed in block. Accordingly, if the speed is less than 5 miles per hour and if the clutch is not pulled in and/or the motorcycle is not in neutral in either instance a display on the display deviceof the rear camera is not made.

326 330 331 331 332 10 250 290 If in the second optional determination blockis it determined, such as by receiving a single from a sensor, that the clutch is pulled in and/or the motorcycle is in neutral, a YES pathis followed to determine or receive other inputs in block. Other inputs may be determination of application of a brake, lean angle, etc. After other inputs are received in block, if selected, a determination of whether the radar has detected oncoming cars made in block. A determination of whether the radar has detected an oncoming car is based upon a sensed rate or approach to the motorcycleand/or time calculated to possible impact. For example, the radar assemblymay sense a vehicle approaching the motorcycle at a relative speed of 20 miles per hour (MPH) and that the vehicle is 290 is 60 feet away. Thus, a determination may be made that the vehicleis only about 2 seconds from impact. Any appropriate selected time to impact may be selected, however, for determination of impact.

334 314 250 338 160 310 10 320 326 250 332 200 160 310 7 FIG.A If it is determined that the radar is not detecting an oncoming car, a NO pathis followed and a display of the rear camera is not made in block. However, if the radar assemblydoes detect an oncoming car a YES pathmay be followed to display the rearview camera on the display devicein block. Accordingly, as illustrated in, in various embodiments, a display of a rearview camera may be made even though the motorcycleis not moving backward or does not have a negative velocity if the motorcycle has a selected forward velocity in block, the clutch is pulled in and/or the motorcycle is in neutral in block, and the radar assemblydetects an oncoming car in block. This may allow the riderto view on the display devicethe view of the rear camera in block.

7 FIG.A 300 160 200 290 10 10 300 300 200 160 As discussed above, with reference to, the methodmay be used to determine whether to display a selected camera image on the display deviceto illustrate to the riderwhether a vehicle, such as the vehicle, is close to the motorcycleand/or may possibly come in contact with the motorcycle. As discussed above in the method, however, the motorcycle is substantially at a stop or stand still or not under power. For example, the methodmay be appropriate for a motorcycle when stopped at a traffic light and/or traffic signal. However, it is understood, that the ridermay also desire or be selected to be made aware that a vehicle is approaching with viewing the displaywhile the motorcycle is at a selected speed greater than 5 mph.

7 FIG.B 300 300 300 300 300 310 314 300 318 331 331 200 10 10 332 10 10 334 314 With reference toa method′, similar to the method, discussed above is illustrated. The method′ is similar to the methodand similar or identical portions will not be described in detail, but the same reference numerals augmented with a prime will be used. Accordingly, the method′ may turn a display of a rear camera on in block′ or turn a display of a rear camera off in block′. The method′ may start in block′ and may receive inputs block′. Receiving inputs in block′ may include the rideractivating a rear approach detection system on the motorcycleand/or initiating or starting the motorcycle. The process may then begin an ongoing determination in determining from block′ of whether the radar sensor detects an approaching car or vehicle. As discussed above, the determination of whether the radar detects an oncoming vehicle may be based upon a speed of a vehicle approaching the motorcycle, a distance of a vehicle to the motorcycle, or a possible time of impact or contact based upon a detected speed and distance of the vehicle. If no vehicle is detected, a NO path′ may be followed to turn off display of the rear camera in block′.

322 332 338 310 160 170 332 10 300 300 c Thereafter the process may reinitiate and a continued detection or determination of whether the radar is detecting a car in block′ may occur. If a car is detected in block′ a YES pathprime may be followed to turn a display on in block′. Accordingly, the displaymay display a view of a rear camera, such as the rear camerawhen a radar detects an oncoming car in block′. Accordingly, it is understood that a display of the rear facing camera may be made when the motorcycleis substantially stopped or mostly stopped, as illustrated in methodor at a selected speed or any speed greater than 5 mph as illustrated in method′.

200 332 290 200 10 160 160 310 200 170 10 160 170 7 FIG.A c c The ridermay then be made aware that a vehicle is oncoming at a selected rate of speed. For example, a determination of a detection of an oncoming vehicle in blockmay determine whether the oncoming vehicle, such as the object, is slowing down at a selected rate, is stopped, or has another selected speed or position. The rider, therefore, need not attempt to turn around to view an area or volume behind the motorcyclebut may view the display device. Moreover, the display on the display devicemay be made to display the view of the rear camera in blocksubstantially automatically in light of the algorithm of logic illustrated in. Accordingly the riderneed not operate a camera, such as the rear camera, but rather may operate the motorcyclein a normal operating manner while the view of the display devicemay automatically display the view of the rear cameraif an oncoming vehicle is detected.

250 252 300 It is further understood that the radar assembly,is an exemplary sensor assembly. Alternative or additional sensors may include optical sensors, lidar (laser radar) sensors, etc. Thus, any appropriate sensor may be used to determine or for operation of the flowchart.

250 252 10 10 350 350 20 350 100 350 260 100 20 1 FIG. 4 FIG. In addition to the radar assembly,, additional or further sensor assemblies, including additional radar assemblies may be attached to the motorcycle. In various embodiments, for example, the motorcyclemay have connected thereto a third or forward facing radar assembly. The forward facing radar assembly, as illustrated inand, may be connected to and/or relative to the fairing assembly. In various embodiments, the radar assemblymay be incorporated into the front headlight. Alternatively, or in addition thereto, the radar assemblymay be connected to a bracket (similar to the bracket) that is connected to the headlight, front fender, ornamentation on the front fender, and/or other fairing components.

350 10 354 350 360 10 360 10 360 10 350 10 4 FIG. The forward facing or front facing (FF) radar assemblymay emit a radar signal generally in a forward direction or away from the motorcycleas illustrated by the curved lines. The radar signal emitted from the radar assemblymay encounter an object, such as a front or forward objectrelative to the motorcycle, as illustrated in. The front objectmay be any appropriate front object, such as a car or 4-wheel vehicle that is in front of or forward of the motorcycle. Alternatively, or in addition thereto, as discussed further herein, the front or forward objectmay be one or more motorcycles relative to the first motorcycle. As discussed further herein, the FF radar assemblymay assist in various systems such as a cruise control of the motorcycle, forward object detection and/or avoidance and the like.

8 FIG.A 8 FIG.B 350 370 20 18 350 370 100 20 350 250 252 354 374 350 20 20 350 10 350 Initially, with reference toand, the radar assemblymay be mounted in a bracket assembly or bracket memberthat is fixed to the fairing assemblyand/or the front fork assembly or suspension assembly. For example, the radar assemblymay be positioned in the bracketsubstantially beneath the front headlightand behind a body panel of the fairing assembly. The radar assembly, however, similar to the rear facing radar assemblies,, may emit the radar signalthat is unobstructed by a selected material of a body panel portionsuch that the radar assemblyis not unobstructed from view exterior to the fairing assembly. The bracket assembly may mount to the light housing or lighting assembly, to a panel of the fairing assembly, or other appropriate portion. In various embodiments, therefore, the radar assemblyis fixed at a selected position relative to the motorcyclefor operation of the radar assembly.

350 In various embodiments, however, a separate or extra bracket or mounting portion may be necessary. The radar assemblymay be mounted to the fairing or other body portion directly and be placed and/or designed to operate without interference from the body panel, even if mounted behind the body panel.

350 350 10 360 360 10 10 350 350 272 350 10 10 360 As discussed above, the radar assemblymay include processing portions that allow the radar assemblyto determine a relative speed of the motorcycleand the object, a change in speed of the object, and/or a change in speed of the motorcycle. In addition to speed or change in speed, a trajectory relative to the motorcycleof the external object may be determined. Further, in various embodiments, a classification of the external object (e.g. tractor-trailer, small automobile, motorcycle) may be made. The radar assemblymay therefore include computational portions, such as a processor system, to allow for determination of speed and/or position of various portions. As an alternative, or in addition thereto, the signal may be transmitted from the radar assemblyto other processing systems, such as the ECUfor processing the signal from the radar assembly to make the determination of speed, position, and the like. Nevertheless, the radar assemblymay be used to transmit a radar signal from the motorcycleto or reflect a signal from objects that are in front of the motorcycle, such as the object.

160 10 200 28 28 10 200 28 10 28 350 350 10 12 450 450 450 450 450 450 450 90 1 FIG. 9 FIG. a b c d In addition to the display, the motorcyclemay include additional feedback to the rider, such as a haptic feedback. The haptic feedback may include one or more haptic assemblies positioned in or on the seat assembly. With reference to, the seat assemblyis positioned on the motorcyclesuch as ridermay sit on the seat assemblyduring operation of the motorcycle. Turning reference to, the seat assemblymay include haptic feedback assemblies, such as one or more vibrational motors or vibrational motor assemblies. The motor assembliesmay include, with reference to a direction of the motorcyclewhere the front wheel assemblyis the front of the motorcycle, includes a right vibrational motor assembly, a left vibrational motor assembly, and a rear vibrational motor assembly. The vibrational motor assembliesmay further include a front or forward vibrational motor assembly. The vibrational motor assembliesmay be any appropriate vibrational motor assembly, such as those that are operated or powered by an electrical source. The vibrational motor assembliesmay be powered by the batteryand may be connected thereto for a power source.

450 452 28 452 250 252 452 450 452 450 450 200 200 28 The motor assembliesmay be further connected to a controller, such as a vibrational motor controller, which may also be mounted in the seat assembly. The controllermay receive signals from various assemblies, such as the rear radar assemblies,. The controllermay further receive signals from other controllers, to operate the motorsin a selected manner. In addition, it is understood, that the controllermay include processing assemblies to allow for operation of the vibration motor assembliesin a selected manner, as discussed further herein. Accordingly, the vibrational motor assembliesmay be operated to provide feedback to the riderwhen the rideris on the seat assembly.

450 200 450 200 450 450 200 450 200 c a b d The positioning of the motor assembliesmay provide directional or positional haptic feedback to the rider. For example, the rear vibrational motor assemblymay provide haptic feedback, such as a vibration, to a rear portion of the rider. The right and left haptic feedback motors,, may respectively provide left and right haptic feedback to the rider. Similarly the forward or front haptic feedback motormay provide feedback or sensation to the riderat a forward location.

250 252 290 290 290 10 250 252 160 170 160 200 450 28 200 160 150 204 205 200 In various embodiments, as discussed above, the radar assemblies,, may sense or be operated to sense or detect an object, such as the rearward object. As discussed above, the rearward objectmay include a moving object, such as a car. Accordingly, the rearward objectmay move toward the motorcycleand the movement may be detected by the radar assemblies,. Based upon a sensed speed, position, change in speed, or the like, the displaymay display a view from one or more of the cameras, as discussed above. In addition or alternatively to the display on the display device, the ridermay be given haptic feedback. The haptic feedback may be provided by the motor assembliespositioned in the seat assembly. The feedback to the ridermay further include additional indicators including indicators on the display, light sources in the fairing assembly (such as on the panel or surface), and/or one or more lights in the mirrorsand. Further, various indicators may have multiple purposes such as turn indicators. The turn indicators may flash in a color other than indicating a turn, at a selected rate, or otherwise to provide an indication to the rider.

9 FIG.A 452 452 450 1 2 3 1 1 2 2 3 3 With reference to Table 2 in, a logic or control conditions may be implemented as a conditional statement or expression to be executed by the controller(as discussed above which may include processing assemblies) or other appropriate processing assemblies to send a signal to the controllerto control one or more of the selected haptic motors. In various embodiments, the various items in Table 2 have priorities including priority, priority, and priority. The logic may operate as an else-if logic wherein: (1) if a priorityfeature is active, do all active prioritytasks then brake, (2) Else if check priorityfeature criteria, if criteria is met then do all applicable prioritytasks then brake, (3) Else if check priorityfeature criteria, if criteria is met then do all applicable prioritytasks then brake, and (4) If none of the priority features are active then provide no haptic feedback.

9 FIG.A 1 360 204 205 150 450 200 d The various actions that may be taken are illustrated in Table 2 in. The actions may occur given Forward notification, Rear approaching traffic, blind spot detection, and lane change assist. As illustrated in Table 2, various prerequisites may include that the motorcycle be moving at a selected speed, such as greater than 10 mph or less than 10 mph (including about or absolutely zero mph). Accordingly, if a priorityis determined the identified Tasks will occur. For example, in the first row, a Forward Notification may occur if the forward radar assembly detects the forward object, such as another vehicle, an obstruction, or the like. If detected visual feedbacks, such as LED's in the mirrors,, or on the fairing panelmay flash for a selected amount of time and at a selected rate. Further the central or forward haptic feedback motormay operate to provide haptic feedback to the rider.

9 FIG.A 2 1 250 252 290 200 450 450 3 b a With continuing reference to Table 2 in, in row, a rear approaching traffic alert may also be a priorityand may be operated if the motorcycle is traveling at greater than 10 mph and the rear radar assemblies,have detected the rear object. Vehicle detection may be based on various sensor inputs and algorithms, as discussed herein. Feedback to the ridermay again include flashes of light and provide haptic feedback with the haptic feedback motors such as with the left and right motors,. In the row, a rear approaching traffic alert may also be provided if the motorcycle is traveling at a speed less than 10 mph (including at or substantially at zero mph), which may be similar or augmented by additional color lights, more intensive vibration or feedback with the haptic motors, or the like.

9 FIG.A 2 1 2 2 10 1 200 1 450 1 450 450 450 450 d b a c With continuing reference to Table 2 in, the priorityfeatures may be included or activated if none of the priorityfeatures are activated but it is determined that the priorityis occurring. In particular, the priorityitems may be a moderate or more moderate risk with the motorcyclethan determined under the priorityconditions. Accordingly, as illustrated in table 2, the feedback to the ridermay include constant lights or indicator lights, which may be the same light as used in the priorityinstances, but not flash. Further, the haptic feedback motorsmay operate differently than during prioritysituations For example, the forward or central haptic feedback motormay pulsate rather than be constantly on. Similarly, for a rear notification, the left and right,and/or the rearhaptic feedback motor may pulsate at a selected rate.

3 3 1 2 450 450 450 250 252 170 210 3 9 FIG.A 4 FIG. b b a Finally, the priorityitems may include a blind spot awareness and detection and/or lane change assist and feedback. Again the priorityitem may be operational only if neither of the priorityinstances, nor are priorityinstances occurring. Accordingly, as illustrated in the Table 2 in, during a left movement, such as a left lane change, a left mirror LED may be on and the left haptic feedbackmay pulsate at a selected manner that may be different than the other pulsations or operations of the haptic feedback motor assembly. Similarly for a right movement or lane change the right bright light may be operated and the right haptic feedback motormay be operational at a selected rate, such as pulsating in a manner different than otherwise operated for providing haptic feedback. The feedback may be activated when the selected sensors, such as the radar assemblies,and/or the cameras, or other appropriate sensors, sense objects in the selected right or left areas. For example, as illustrated inis a right turn or lane change is occurring and the objectis detected the priorityfeature may be activated.

10 200 200 170 250 252 350 200 450 200 10 18 452 The left and right lane changes may be determined based upon operation of the motorcycleby the rider. In various embodiments, as discussed above, the ridermay operate turn signal indicators and the camerasand/or the radar assemblies,,may operate to sense or determine whether there are vehicles or obstacles in the direction indicated by the riderby operation of the turn signal indicator. The feedback systems, such as the haptic feedback motorsmay then provide the appropriate indication to the rider or feedback to the riderif other vehicles or obstacles are sensed in the right or left areas, particularly in the blind spot areas of the motorcycle. It is further understood that additional feedback determinations may be made such as based upon a leaning of the motorcycle, amount of turning of the front suspension assembly, or other selected inputs to the controller.

9 FIG.A 10 10 10 160 Vehicle detection may be made for the various warning tasks, as noted above and illustrated atand Table 2, such as for forward collision or detection identification (FCW), rear approaching traffic alert (RATA), blind spot detection or alert (BSD), or lane change alert or assist (LCA). For example, a probability of a collision may be used to determine a high, low, or moderate risk, or other risks. For example a speed and distance and/or change in speed of a vehicle approaching the motorcycle, or the motorcycleapproaching another object or vehicle, may be determined. Based upon the distance, speed, and/or rate of change of speed the determination may be made of a probability of a contact. For example, if the system determines that at a current speed and/or rate of change of speed and current distance that the motorcycleis, for example, two seconds or less away from an object, the probability may be determined to be a high risk. If it is determined that the motorcycle and/or the object are at least five seconds away from each other, a moderate risk may be determined. If it is determined that the motorcycle and/or the object are at least ten seconds away from each other, it may be determined that no or low risk of collision is possible. It is understood that various times may also be determined, such as three seconds for a high risk, four seconds for a moderate risk, and greater than twenty seconds for no risk, and times are merely exemplary. Nevertheless, the determination may be made based upon the signal from various assemblies, such as the radar assemblies, and feedback may be provided to the rider such as hepatic feedback and/or display on the display device.

450 450 450 450 450 450 450 450 450 450 450 450 a d a d d c b a a d a d. In various embodiments, the haptic feedback system may include more than the four motors-, which may also be referred to as zones, and/or less than the four motors-. For example, only the forward motorand the rearward or aft motormay be provided to give fore and aft haptic feedback. Similarly, only the left motorand the right motormay be provided to give left and right haptic feedback. Thus, the haptic feedback system need not only all four motors-and/or only the four motors-

250 252 350 10 200 10 200 290 10 As discussed above, the various sensors, such as the rear facing radar assemblies,and/or the forward facing radar assemblymay sense or detect objects exterior to the motorcycle. As further noted above, feedback may be given to the riderof the motorcycleregarding various sensed objects. In addition to feedback given to the rider, however, feedback or notices may be given to objects or individuals in the objects, to the rider of the motorcycle, and/or alternatively other vehicles.

1 FIG. 4 FIG. 9 FIG. 10 FIG. 200 10 290 200 290 With reference to,,, and, alerts may be given to the riderand to operators of objects surrounding, exterior or external to the motorcycle, such as drivers of vehicles that may be the objects such as the rear object. As discussed above, various feedback may be given to the riderbased upon a detected approach of a vehicle, such as the rear object. Indications or notifications may be given to an operator of the rear vehicle as well.

1 FIG. 10 108 110 108 110 10 106 106 10 10 As discussed above, with specific reference to, the motorcyclemay include various visual indicators, including one or more rear projecting lights. For example, left and right turn indicators,may be present. Generally, the turn indicators may be a non-white color and may be operated in hazard mode where both left and right lights,may be illuminated simultaneously and/or blink simultaneously. Further, the motorcyclemay include the central light, such as the brake light. The brake lightis also generally a non-white color such as red or a shade of red. Any one or more of these indicators may be illuminated at such a time to provide an indication to an oncoming vehicle. The notification may include when the motorcycle, as discussed herein, has detected that the oncoming vehicle is approaching at a high rate of speed, not slowing, or to indicate that the motorcycleis slowing to further enhance visibility to an operator of the oncoming vehicle.

10 FIG. 10 FIG. 480 290 484 488 490 484 494 Accordingly, with reference to, selected notifications, such as visual or auditory feedback, maybe given to the operator of the oncoming vehicle. For example, a flowchartillustrated inmay include an ongoing or repeated monitoring or sensing of a rear approaching object or vehicle, such as the object, in block. A decision blockmay be whether a vehicle is detected. If no vehicle is detected, a NO pathis followed to continue monitoring in block. If the vehicle is detected, a YES pathmay be followed.

290 4 FIG. Detection of an approaching vehicle may include various determinations, such as noted above including relative speed of the sensed external object or vehicle, rate of change in speed, distance, etc. Detection or a positive determination of a detected vehicle may be that the speed of the external vehicle, such as object() is greater than 5 miles per hour faster than the motorcycle. Alternatively or additionally, if it is determined that the external vehicle is less than a certain time away, such as less than 2 seconds away given a speed, distance, and/or change in speed.

494 500 500 10 108 110 200 150 160 20 9 FIG.A After following the YES path, a first driver indication can be made in block. The first indication in blockmay be when the external object is traveling at selected low rate of speed (e.g. between 5 and 15 miles per hour), is at a selected distance away, is determined to be a selected time away, is traveling at a selected rate of speed relative to the motorcycle, or combinations of the above. Indications to the external driver may include flashing the hazard or the indicator lights, such as the lights,a selected number of times at a selected speed, such as three times with about 500 milliseconds between each flash. A feedback may also be given to the rider, as discussed above in, including flashing the turn signals on the paneland/or a specific icon or indicator on the panelof the fairing assembly.

500 10 504 10 506 484 After providing the initial indication in block, a determination of whether the vehicle continues toward the motorcycleand has a certain condition (e.g. at a selected speed, distance and speed, time away, etc.) is made in block. If determination is that the vehicle or external object has slowed down and, therefore, is not continuing toward the motorcycleat a selected rate of speed, a NO pathmay be followed to continue monitoring in block.

10 510 514 520 106 140 520 10 290 106 106 108 110 10 514 484 514 290 200 1 FIG. If the vehicle continues or an object continues at a high rate of speed towards the motorcycle, a YES pathmay be followed to provide further or additional indications to the driver in block. Further indications may include an auditory output such as sounding a notification system, such as a speaker, a horn other auditory output, such as a siren. For example, a directional speaker() may be mounted near the taillightand/or in one or more of the saddlebags. The directional speakermay be directed away from a rear of the motorcyclesuch that the sound is directed toward the oncoming object. Further, the brake lightmay flash at a selected rate, number of flashes, or other appropriate indication. Additionally, the brake lightmay flash in addition to the indicator light,. The indications/notifications may be continued to be made from the motorcyclein blockwhile continuing to monitor in block. The indications in block, therefore, may be made until it is determined that the vehiclehas slowed or stopped. Accordingly, output regarding approaching objects or items may be made to both a riderinto operators of the approaching objects.

1 FIG. 11 FIG.A 10 16 140 122 10 10 140 600 600 Returning into reference to, as discussed above, the motorcyclemay include various assembly portions such as the frame, the saddlebags, the highway/engine guard bars, and other selected components. In various embodiments, selected assemblies may be attached to different positions relative to these mounting portions that allow sensing of an area exterior or around motorcycle. In various embodiments, for example, with reference to, the motorcycleincluding the saddlebags, may include one or more sensors. The sensorsmay be in a selected type of sensor such as an ultrasonic sensor, a laser imaging detection and ranging (LIDAR), Radar sensor, or other appropriate sensors.

600 602 606 608 600 600 600 606 608 10 650 10 10 The sensormay emit a signal, such as an ultrasonic signal, that impinges a surface, such as a road surface. A reflected signalmay then be received by the sensor. The sensor assembly, or other appropriate processing system, may determine a distance between the sensorand the surfaceoff which the reflected signalreflects. The distance may be used to determine a lean angle or a position of the motorcyclerelative to the road surface. In addition, an Inertial Monitoring Unit (IMU)may also be mounted to the motorcycle, as discussed herein, to measure selected orientations of the motorcyclerelative to the direction of acceleration of gravity and/or accelerations due to vehicle motion.

11 FIG.B 11 FIG.C 11 FIG.C 10 600 600 612 10 606 614 10 600 600 614 10 606 600 606 620 622 606 10 612 624 614 624 606 600 600 10 606 606 10 a a a a With additional reference toand, in various embodiments, the motorcyclemay include a sensor module on both a right and a left side, such as a first moduleon the left side and a second moduleon the right side. A central axismay be formed between motorcycleand the surface, such as a substantially perpendicular anglewhen the motorcycleis upright. Accordingly, both the sensors,will sense the same distance or predetermined distance at the perpendicular angle. At certain conditions, however, the motorcyclemay be titled relative to the surface. As illustrated in, the motorcycle may be titled such that the left sensoris nearer the surface, such as a first distance, than a second distanceof the second sensor. In this orientation, the motorcycle, or the axisdefined thereby, has an anglethat is greater than the angle. It is understood, however, that the complimentary angle, relative to anglemay be such as when the motorcycle is cornering in a left turn, the left side of the motorcycle is closer to the ground. Accordingly, the sensor,is used to determine relative spacing of left and right sides of the motorcyclerelative to surfacefor determine or assisting in determining a lean angle relative to the surfaceof motorcycle. It is understood that a plurality of sensors may be positioned on either side, such as a plurality of sensors, which may assist in providing additional information or feedback regarding the sensed signals.

650 600 600 650 10 16 650 10 200 650 1 FIG. 11 FIG.A a Additionally, the IMU, as illustrated inand, may include various sensors in addition to the sensors,. The IMUmay include one or more gyroscopes, one or more accelerometers, and combinations thereof. The gyroscopes and accelerometers may be mounted in a fixed position relative to the motorcycle, such as with a bracket to the frame. The IMUmay be positioned substantially near a center of gravity of the motorcycle, including accounting for when the rideris seated thereon. The IMUmay also be used to provide information or feedback regarding a specific location or orientation of the motorcycle relative to gravity. The accelerometer and gyroscope may be any appropriate accelerometer and gyroscope that may be integrated as one system or unit, or separate systems and unites. Exemplary accelerometers and gyroscopes include an iNEMO inertial module: always-on 3D accelerometer and 3D gyroscope, sold by STMicroelectronics NV.

10 650 600 600 600 600 10 606 650 10 606 606 650 606 600 10 606 250 252 350 a a In various embodiments, the information regarding a lean angle or an angle of the motorcyclemay include information from both the IMUand the sensor,. As discussed above, the sensor,may be used to determine an angle of the motorcyclerelative to the surface. The IMU, however, may determine the angle of the motorcyclerelative to gravity which is generally toward a center of the Earth. It is understood that the surface, however, may not be perpendicular to the force of gravity. Accordingly, the actual surfacemay not be entirely defined by the IMis the surfaceis not perpendicular to the direction of the force of gravity (e.g. a banked or slanted road surface). In various embodiments, therefore, it may be selected to include additional sensors, such as the sensor, to assist in determining lean angle of the motorcyclerelative to the surface. The additional information may be used for various purposes, as discussed herein, including compensating for movement of the motorcycle in possible directions of sensor detected signals, such as from the radar assemblies,and. Further, the lean information may assist with any system that is interested or related to a tire's contact patch with the ground such as anti-lock braking systems (ABS) or traction control.

Sensor Assembly and/or Beam Movement

10 606 10 10 606 350 10 20 20 200 24 10 350 10 16 10 350 10 10 11 FIG.A 11 FIG.B 11 FIG.C 1 FIG. The motorcycle, as discussed above, may not always, be perpendicular to a road surface, such as the road surfaceas illustrated inand. In various instances, such as when the motorcycleis turning or maneuvering, the motorcyclemay be tilted relative to the road surfaceas illustrated in. As illustrated in, the radar sensormay be mounted in a substantially fixed position relative to the motorcycleand/or the fairing. In various embodiments, the fairingmay rotate when the operatorsteers or turns the handlebarsof the motorcycle. Even if the radar assemblyis fixed relative to the motorcycle, such as the frame, so that it does not rotate, the movement of the motorcyclemay cause the radar assemblyto not point directly in front of the motorcycleand/or along an intended path of the motorcycle.

12 FIG.A 12 FIG.B 12 FIG.C 10 606 350 350 101 10 101 10 350 350 101 10 350 606 606 606 350 101 360 606 360 350 10 606 350 606 b b b r b b r b With reference to, in various instances the motorcyclemay be moving along a surfaceand a beam or signalis emitted by the radar assemblysubstantially along an axisof the motorcycle. The axismay be the longitudinal axis of the motorcycle. As discussed above, the radar assemblymay be fixed such that the beamemits a beam or cone that is substantially centered on the axis. In various situations, as illustrated in, the motorcycleand the beammay not be directed along a pathof the surface, such as if the surfaceis a road that is curved. Accordingly the beamextending along the axismay no longer encompass the forward objectas the road surfacecauses the forward objectto not be within or entirely within the beam. Further, as the motorcycleturns during the paththe beam, which is generally cone shaped, may also not be directed or substantially directed above a horizon or the surface, as illustrated in.

12 FIG.C 350 10 606 10 606 350 10 350 10 350 606 606 350 10 360 b r b b r b As illustrated in, the radar beam, due to a lean angle, as determined as discussed above, of the motorcycle, may impinge or encompass a volume or area that would be below the surface. Accordingly, as the motorcyclenavigates or travels along the curved path, the radar beammay not be directed at an area or volume that is forward of the motorcycle. As discussed further herein, the radar sensor, therefore, may be moved relative to the motorcycle, to direct the radar beamsubstantially away from the surfaceand/or around the curved pathto maintain the beamin front of the motorcycleto allow to encompass or sense the vehicle.

10 10 350 10 20 10 606 10 350 350 606 10 10 606 350 606 r b r r b r. As discussed above, as the motorcyclebegins to turn the motorcyclemay lean without substantially turning the direction of the radar assemblyas the motorcyclemay not have the fairing assemblyrotate as the motorcycleis turning in the direction of the curve. As is understood in the art, the motorcyclemay begin turning in the curve by leaning, which may not cause the radar assemblyto direct the radar beamalong the direction of the curve. Further, as is understood in the art, the motorcyclemay be turned or maneuvered using a counter steer technique where the handlebars are moved in a direction opposite that of an intended direction of travel of the motorcycle. The counter steer technique may initially move the handlebars in the direction away from the curve directionwhich would also cause the radar beamto not be directed along the direction of the curve

10 650 600 24 16 650 600 In various embodiments, as discussed above, sensors may sense the lean angle of the motorcyclesuch as with the IMUand/or the sensor. Further, additional sensors may be provided to determine or sense the amount of turning of the handlebarsrelative to the frame. Various sensors, such as the IMUand/or the sensorsmay assist in determining a direction of travel.

13 FIG. 13 FIG. 350 350 350 350 350 10 350 10 20 350 700 b With additional reference to, the radar assemblyis schematically illustrated. The radar assemblymay emit the radar beam. It is understood, however, that the radar assemblyillustrated inis exemplary of any appropriate sensor assembly. The radar assembly, as discussed above, may be mounted relative to the motorcyclein an appropriate manner. For example, the radar assemblymay be mounted in a fixed manner relative to the motorcycle, such as the fairing assembly. In various embodiments, the radar assemblymay be positioned on, such as fixed to, an actuator.

700 704 706 706 710 704 712 710 272 650 10 710 712 714 10 10 350 710 350 716 606 350 350 10 350 10 b r b b 12 FIG.B The actuatormay include various components, such as a stageand a platform. The platformmay include a motorthat is connected to the stagevia a selected component, such as a rod. The motormay be controlled, such as by the ECUor other assemblies, such as the IMU, or the like based upon a determination of a lean angle of the motorcycle. The motormay move the rodto move the stagein a selected manner to counteract movement of the motorcycle, such as leaning or tilting of the motorcycle, to ensure that the beamis maintained in a selected direction. For example, as illustrated in, the motormay operate to twist or rotate the radar assemblyaround an axisin a selected manner to move the beam in the direction of the curve. Thus, the beammay be moved to maintain the beamalong an intended direction of travel of the motorcycleregardless of the position of the radar assemblyrelative to the motorcycle.

350 350 24 700 350 350 350 606 10 710 704 706 716 350 706 b b 12 FIG.C Movement of the radar assemblyto move the radar beammay be based upon a determined amount of lean angle, rotation of the handlebars, or other appropriate considerations. For example, the actuatormay rotate to the radar assembly. For example, the radar sensormay be rotated counter to the lean angle to overcome the movement of the beaminto the surface, as illustrate in. Thus, the radar sensor may be moved one degree clockwise or each degree of lean counter clockwise, and vice versa. The radar sensor may also be rotated to follow the direction of the path of the motorcycle. Further, the motormay be operated to move the stageat an angle relative to the platformin addition to rotating relative to the axis. Accordingly, the radar assemblymay be moved in an appropriate manner relative to the platform.

350 350 350 24 350 350 350 b b Further movement of the radar assemblymay be performed with other mechanical systems. For example, the radar assemblymay be mounted on a gimbal, such as a multi-axis gimbal, such that the single or multi-axis gimbal may be moved to direct the radar beambased upon inputs from a selected amount of lean angle and/or rotation of the handlebars. Accordingly, the radar assemblymay be moved with a mechanical system in a selected manner to direct the radar beam. Also, or alternatively, the radar sensormay be moved with other systems, such as a headlight.

350 350 350 10 350 350 350 350 350 350 350 350 b b b b b In further embodiments, however, selected beam shaping or forming mechanisms may be used to direct the beamrelative to the radar assembly. In various embodiments, therefore, the radar assemblymay be maintained in a fixed location and positioned relative to the motorcycle, but the beammay be moved relative to the radar assembly. In such a system the beammay be shaped or formed with electronic means, such as frequency modulation. Further, mechanical system may cause the beamto moves such as with one or more antenna arrays of the radar assemblybeing moveable without moving a physical case or housing of the radar assembly. Accordingly, the radar beammay be moved in a manner as discussed above, without moving the radar assembly.

10 200 905 200 10 10 10 350 350 10 350 800 802 10 800 606 10 1 FIG. The motorcyclemay include systems that are configurable by the riderfor various purposes. For example, a cruise control may include an electronic switch or selectorthat allows the riderto select a speed to maintain the motorcycle. The cruise control may include cruise controls such as those generally known in the art, including cruise controls included on the Roadmaster® motorcycle, as discussed above. The cruise control may selectively maintain the motorcycle at a selected speed. In various instances, however, the speed of the motorcycle may be selected to be altered due to various situations, such as an object that is in a selected or intended path of the motorcycle. The motorcycle, as discussed above, may include the radar assembly. The radar assemblymay include various features to identify and determine positions, speeds, and changes in speed of objects in front of or in an intended path of the motorcycle. In addition to the radar assembly, with reference to, the motorcycle may include one or more camera assembliesthat includes various portions such as a lens that has a field of viewof an area forward of the motorcycle. The camerawhich may be positioned and configured to obtain a view of a road or surfacein front of the motorcycle.

14 FIG. 14 FIG. 10 850 10 850 10 606 10 860 606 864 866 864 866 860 870 874 870 874 Turning reference to, the motorcyclemay be moving generally in the direction of an intended path, such as the direction. As the motorcycleis moving in the direction ofthe motorcyclemay be on the surfacewith other vehicles. Generally, the motorcycle, particularly including a cruise control system, may be traveling on a road surface. The road surface may be divided into multiple lanes, such as with lane markers. The lane markers may include various features, such as paint on the surface, particularly paint that is a different color than the road surface. Other possible road markers,may also be present such as a shoulder road marker or additional lane indicator markersand. For illustration, as illustrated in, the lane markersmay identify a separation of a first traffic laneand a second traffic lane. The first traffic lanemay be traveling in the same direction as traffic in the second traffic lane, or the flow of traffic may be contrary to each other, as discussed further herein.

10 870 880 884 888 10 10 890 874 10 890 10 876 894 876 850 In various embodiments, however, the motorcyclemay be traveling with or in the lane of trafficwith one or more motorcycles such as a second motorcycle, a third motorcycle, and a fourth motorcycle. The motorcycles generally traveling in the same direction and/or lane as the motorcyclethat are sensed or identified by the system, such as one or more radar systems as discussed herein, may be referred to as targeted or identified forward motorcycles. Other vehicles or motorcycles may also be target or identified, but may not be referred to as forward targeted motorcycles if not generally traveling in the same direction of travel as the motorcycle. For example, a fifth motorcyclemay also be present in the second lane of traffic. In various embodiments, even if traveling in the same direction as the motorcycle, the fifth motorcyclemay not be a forward targeted motorcycle as it is not in the same lane as the motorcycle. Additionally, as discussed above, other lanes of traffic or possible lanes of traffic may include a third lane of traffic, as discussed above. According to various embodiments, a car or large vehiclemay be present in the third laneand may also be generally traveling in the same direction, as discussed above.

10 350 800 870 10 860 864 10 880 884 890 894 The motorcycle, including the various sensors such as the radar assemblyand/or the camera assembly including the lens, may sense and/or view the lanein which the motorcycleis traveling including the lane indicatorsand/orand the various other vehicles relative to the motorcycle, including the second motorcycle, the third motorcycle, the fifth motorcycle, and the large vehicle.

10 10 870 10 900 900 901 880 10 880 910 884 888 880 910 894 876 10 880 884 888 890 874 10 860 870 874 During the riding of the motorcycle, the motorcyclemay be ridden in a single lane, such as the first lanein a staggered formation. In a staggered formation the motorcyclemay be traveling along a pathwith the third motorcycle directly in the path, but a selected distancetherefrom. In the staggered formation, the second motorcycleis laterally offset, such as to the right, of the motorcycle, but in the same lane. Further, the second motorcyclemay travel along a pathwith the third motorcycleand be laterally offset therefrom and the fourth motorcycledirectly in front of the second motorcyclealong the pathall within the same lane. The large vehiclemay be laterally offset, such as in the third lane, from any of the motorcycles,,,. Additionally, the fifth motorcyclemay be in the second lanewhich may be traveling in the same direction or contra to the motorcycle. Nevertheless, the lane markersseparate the first lanefrom the second lane.

10 350 800 870 860 864 870 350 800 880 884 350 350 10 880 894 890 10 874 876 b In various embodiments, therefore, the motorcycleincluding the selected sensors, such as the radar assemblyand/or the camera assemblymay view or determine the lane, such as by identifying the lane markersand lane markers. Within the first lane, the selected sensors, such as the radar assemblyand/or the camera, may sense or view the second motorcycleand the third motorcycle. As discussed above, the radar assemblymay emit the radar signal beamand detect a reflected radar signal to identify the selected vehicles external to the motorcycle, such as the second motorcycle, the large vehicle, and the fifth motorcycle. It is understood that additional motorcycle or non-motorcycle vehicles may be in the same or additional lanes as the motorcycle, such as the second laneor the third laneand those discussed here are merely exemplary.

350 880 884 890 894 800 860 864 870 10 272 272 10 200 For example, the radar assemblymay identify the second motorcycle, the third motorcycle, the fifth motorcycle, and the large vehicle. In addition thereto, or alternatively thereto, the camera sensormay identify the lane markersandto identify the lanein which the motorcycleis traveling. The various inputs may be provided to a selected processing system, such as the position processor or the cruise control system which may include or be incorporated into the ECU. As discussed further herein, the ECUmay include processors to execute selected instructions for automatically controlling cruise control in the motorcycle, providing feedback to the rideras discussed above, providing signals to other drivers, as also discussed above, or the like.

14 FIG. 870 10 880 870 10 880 870 950 860 864 870 880 960 10 884 964 950 884 968 880 901 10 900 950 964 960 901 968 870 860 864 As illustrated in, in the first lanea plurality of motorcycles, including the first, second, third, and forth motorcycle, or even just a first and second motorcycle,, may ride in a staggered formation in the single first lane. A staggered formation, as is understood by one skilled in the art, may include that two motorcycles, including the first motorcycleand the second motorcyclenot riding abreast of one another within the single lane, but offset a selected lateral distance, such as a distancebetween the lane markers,in the first lane. In the staggered formation, however, the second motorcycleis a selected distanceforward or in front of the first motorcycle. If more than two motorcycles, such as the third motorcycle, is in a staggered formation the third motorcycle is also offset a lateral distance, which may be the same distance. The third motorcyclemay be a distanceforward of the second motorcycleand the distanceforward of the first motorcyclealong the path. Although the offset lateral distances,may be substantially identical, the forward distanceis generally less than the distance, while it may be the same as the distance. In the staggered formation, any appropriate number of motorcycles may travel in the first lane, or any other appropriate single lane of traffic. The lane may be marked with lane markers, such as the lane markers,.

870 870 870 870 870 870 870 870 870 870 870 870 860 864 880 10 14 FIG. a b c a b c a b c Further, the single lanemay be divided into two or more internal or imaginary lane partitions. As illustrated inthe single lanemay include a first lane partition, a second lane partition, and a third lane partition. The lane partitions,,may be imaginary and/or determined by a sensor system, such as a forward facing camera and processor system. The lane partitions,,may each generally include about ⅓ of the lane width, such as the width of the lanethat is between the markersand markers. A motorcycle that is laterally offset is generally at least in a different lane partition that the subject motorcycle, such as the second motorcycleis laterally offset from the first motorcycle.

350 350 10 880 884 894 890 350 10 10 800 10 270 606 860 864 10 800 880 884 890 894 272 350 b The radar assemblymay emit the beaminto the environment around the motorcycleand it may impinge upon or encompass and/or be reflected by at least the second motorcycle, the third motorcycle, the large vehicle, and the fifth motorcycle. The radar assembly, as discussed above, may identify position relative to the motorcycle, speed of the various objects, change in speed of the various objects, and relative speed to the motorcycle. In addition, as discussed above, the forward facing cameramay view the forward path of the motorcycle. In various embodiments the ECUmay include a processor that executes instructions to identify various features of the surfacesuch as the lane markers,and objects in the forward path of the motorcycle. Accordingly, the cameramay also acquire an image of the second motorcycle, third motorcycle, fifth motorcycle, and large object or vehicle. It is understood, however, selected processor system may be separate from, even if in communication with the ECU. As noted above, various direct connections, BUS data communications, and others are possible for communication between the sensors, such as the radar sensor, and one or more processors.

200 10 10 200 905 10 960 880 901 884 2 FIG. In various embodiments, the ridermay operate a cruise control on the motorcycle. As discussed above, the cruise control may operate to selectively maintain a speed of the motorcyclethat is selected by the rider. The cruise control may be set with one or more switches(), but may be augmented or changed with manual and/or automatic input to adjust a speed of the motorcycleto maintain a set distance, such as the distance, from the second motorcycleand/or the third distancefrom the third motorcycle.

10 10 200 10 880 884 In various embodiments, therefore, the various sensors of the motorcyclemay be operated to inform the cruise control or an automatic cruise control of the motorcyclewith feedback and/or automatic motorcycle operations regarding obstructions. The feedback may also be given to the rider, as discussed above. The feedback to the cruise control, however, may assist in operation of the motorcyclerelative to the second motorcycleand/or the third motorcyclesubstantially automatically.

14 FIG. 15 FIG. 10 880 884 870 870 860 864 10 880 1000 870 884 1004 880 870 870 880 950 10 960 10 880 1000 200 10 10 880 10 200 1000 901 272 c c c c c c Additionally, even if in an initial staggered riding formation, as illustrated in, a plurality of motorcycles, such as the first motorcycle, the second motorcycle, and the third motorcyclemay move or form a substantially single file configuration when encountering a curve, to form a selected single riding lane or lineas illustrated in. The curved first lanemay include or be defined by curved lane markersand. The first motorcyclemay be positioned substantially directly in line or behind the second motorcyclea distanceon a substantially identical or selected single path through the curve of the curved first lane. Similarly, the third motorcyclemay be a distancein front of or forward of the second motorcycle. In the situation where a plurality of motorcycles are traveling around the curve, therefore, the plurality of motorcycles may be in or move to a substantially single path until a straight portion of the first laneis encountered again and the stagger formation is reformed. Accordingly, in a changing situation where the second motorcyclemoves from an offset position, such as offset by the distanceto an offset that is substantially zero, relative to the first motorcycle, the distanceof the first motorcyclefrom the second motorcyclemay change to the distance. The change in riding configuration, however, may not require an indication to the riderthat a collision is possible or eminent between the motorcycleand an object in front of the motorcycle, such as the second motorcycle. When the change in formation occurs, feedback to drastically change a speed of the motorcycleto the riderneed not be given. The cruise control system may automatically lower the cruise control speed to achieve the distance, which may be substantially identical to the distance, which is a distance between two motorcycles on a single intended path. The speed may change with a changing the engine speed, such as via the ECU, and/or the application of a selected braking force such as via the brake controller.

16 FIG.A 16 FIG.B 14 15 FIGS.and 16 FIG.A 16 FIG.B 10 1100 1100 1104 1106 1104 10 10 1100 272 272 40 72 1100 272 With reference toand, and continuing reference to, the motorcyclemay include an adaptive or intelligent cruise control that may operate according to the flowchartas illustrated inand. In the flowchart, the process begins in start blockand then to a determination or analysis blockto determine whether the adaptive cruise control (ADC) is on or off. It is understood that the start blockmay be entered upon ignition of the motorcycle, the motorcycleachieving a selected speed (e.g. 10 mph), or other appropriate start criterion. Accordingly, the processmay be operated or executed by a processor in the ECU, or other appropriate processor system. Generally, the ECUmay be in communication with a cruise control system to operate the engineat a selected speed. Further, the ADC may be in communication with one or more controllers for the braking systems. In various embodiments, however, the processmay be incorporated into instructions and/or a logic that is executed by the processor system in the ECUor other appropriate processor system.

1106 1110 1104 1100 1100 10 If the ADC is determined to be off in block, an OFF pathis followed back to the start block. It is understood that a selected of a non-ADC may also be made that is not explicitly included within the flowchart. The non-ADC may operate as a commonly known cruise control that attempts to maintain a selected speed of the motorcycle. The flow pathmay be understood to be a loop, according to various embodiments, upon operation of the motorcycle.

200 1114 1120 350 1100 1124 1104 200 160 200 1124 If the cruise control is determined to be on, such as selected by the user or programed by the rider, an ON pathis followed to a determination blockto determine whether a cruise control system and/or sensor error is present. The sensor error may include the radar assemblythat is not sending or receiving a signal or other error state. It is further understood that other sensors that may be incorporated into the cruise control methodmay also have error states. If errors from the sensors are detected, then receiving or altering the cruise control based upon the sensor is stopped and a YES pathis followed to the start block. According to various embodiments, if a sensor error is determined an indication may be provided to the rider, such as with the display device. Further, additional warning indicators or error indicators may be provided to the ridersuch as with selected LED's or warning lights. Nevertheless, if errors are in the sensor assemblies, the YES pathis followed so the cruise control is not altered by inputs from the assemblies.

1130 200 1132 1132 200 1100 If no error is found in the sensor assemblies, a NO pathis followed. As discussed above, the ridermay operate the cruise control to turn the cruise control on to select a selected speed, such as select initial or set speed in block. The set initial speed in blockmay be desired or selected by the rider, but may be augmented or changed by an intelligent or adaptive cruise control, as discussed herein, such as according to the flowchart.

1132 1100 1133 1133 1100 1104 200 1133 1134 1134 1135 1134 1135 1137 a b a b After receiving a set initial speed in block, the methodmay confirm or reconfirm that the adaptive cruise control is on or selected in block. If the adaptive cruise control is off, an OFF pathmay be followed to initiate the processagain in start block. If it is determined (such as confirming an input from the riderfor operation of the adaptive cruise control) that the adaptive cruise control is on, an ON pathpath may be followed to determine whether a set speed has been updated in block. If the set speed has been updated or changed, a YES pathmay be followed such that the most recent set speed may be store in block. If the set speed has not been updated a NO pathor once the new set speed has been saved in block, a path to recall target follow criteria in blockis followed, as discussed herein.

200 1100 960 1000 1100 10 880 960 10 880 10 880 910 10 884 10 884 14 FIG. 15 FIG. The selected speed selected by the ridermay be a desired speed that is augmented by the flowchartto maintain or achieve selected following distances, such as the following distance, illustrated in, with the following distanceillustrated in. Accordingly the cruise control adaptive system according to the flowchartmay recall target following criteria A and B. The target following criteria A and B need not be absolute or discrete criteria, such as distances, but may include a range or have a tolerance. The following criteria A and B, as discussed further herein, may include length or physical distances such as measured in feet or meters. The following criteria or target criteria may also and/or alternatively include time(s) based upon distance and speed or relative speed between two objects, such as the first motorcycleand the second motorcycle. Accordingly, as discussed above, the distancebetween the first motorcycleand the second motorcyclemay be a distance that could be traveled in a selected amount of time, such as about 1 second to about 3 seconds, including about 1 seconds, based upon the current or instantaneous speed of the motorcyclerelative to the object, such as the first motorcycle. The distancebetween the first motorcycleand the third motorcyclemay be a distance that could be traveled by the first motorcycleat its instantaneous or current speed relative to the third motorcyclein a time of about 2 seconds to about 6 seconds, including about 2 seconds.

960 901 10 960 901 901 10 901 10 910 10 880 884 910 960 10 880 884 Accordingly the distance that may be the following distance or target distances, e.g. the distancesand, may also be referred to or understood to be time or an amount of time required for the motorcycle, or other respective motorcycles, to travel the physical distanceor. For example, the distancecan be determined to be 2 seconds and if the motorcycleis traveling at 70 mph the length or distancewould need to be about 200 feet to about 220 feet, including about 204 feet. It is understood, however, if the motorcycleslowed to a slower rate of speed, such as about 35 mph, the distancemay be less but would still maintain the following distance or time of 2 seconds. Accordingly, as discussed further herein, the distance or time between two vehicles, such as the motorcycleand the second motorcycleand/or the third motorcyclemay be generally referred to as a criteria which may include a target following criteria. The target following criteria may include a length or length distance that is the distanceand/oror a selected time that may be the target following criteria that would be based upon a speed of the motorcyclerelative to the other vehicles, including the second motorcycleand the third motorcycle.

10 880 10 10 884 900 10 10 901 884 880 950 10 880 10 1137 1100 10 15 FIG. The target following criteria A may include the distance between the motorcycleand the first motorcycle, or any motorcycle or object closest in the lane to the first motorcycle. The following criteria B may include the distance between the motorcycleand the second motorcycle, or any vehicle or object that is directly in an intended pathof the first motorcycle. As discussed above, the motorcyclemay have an intended path that is a distancefrom the third motorcyclewhen the second motorcycleis offset the distancefrom the first motorcycle. In various situations, however, the second motorcyclemay move into the intended path of the first motorcycle, as illustrated in. The recalled target follow criteria in blockmay be stored on a selected memory system and recalled by a selected processor, within the flowchart. As discussed herein, the target following criteria may include criteria that are used to calculate a specific distance or speed dynamically with the processor on and/or accessed with a system on the motorcycle.

1137 10 10 880 884 10 1137 880 884 1137 The recall target criteria in blockmay also include recalling a selected or desired following time, as noted above, that may be based upon a relative speed of the motorcycleto the objects or vehicles in front of the motorcycle(e.g. the second motorcycleand the third motorcycle) and/or the absolute (e.g. relative to ground) speed of the motorcycle. Accordingly, recalling the target criterial in blockmay include recalling a following time of 1 second to a nearest motorcycle, such as the second motorcycle, and a two second following time relative to a further motorcycle, such as the third motorcycle. Thus recalling criteria in blockmay include recalling a selected length distance, following time, or other appropriate criteria.

1140 1140 800 10 860 864 870 860 864 1100 1140 The processor assembly may also determine a lane in block. The determination of the lane in blockmay be based upon various interpretation, and may only be optionally determined. For example, the cameraon the motorcyclemay be used to provide an indication of the lane markersand. The first lanemay then be determined between the respective lane markers,. Nevertheless, determination of the selected vehicles and/or follow criteria may not be required in the flowchart. Accordingly, determining the lane in blockis not required, and may be selected only in various embodiments.

1140 870 870 880 880 10 870 Further, the determined lane may be subdivided in blockto determine lane partitions, as discussed above. For example, the ADC may determine segments or lane partitions, such as half or thirds of the determined lane, such as the first lane, or specific widths distances (e.g. 4 feet) within the lane. Generally, a lane may be determined as an area or distance between lane markers and/or a side of a road and lane makers. The system may then determine that a vehicle, such as the second motorcycleshould be at a selected following criteria, such as the target criteria A as long as the motorcycleis within a portion of the lane, such as a half, that is not in the path of the first motorcycle. Thus, lane sub-division may be used to assist in determining a selected target following criteria relative to selected vehicles within the lane.

1140 10 1142 1142 350 1152 1156 1100 1100 10 1156 1156 1133 Following the optional determination of the lane in block, a determination of whether a vehicle is detected or target vehicle is detected forward of the motorcyclein block. If no vehicle is detected in block(e.g. as with the radar sensor) a NO pathmay be followed to send cruise control “plus” (i.e. increase speed set amount) or “minus” (i.e. decrease speed a set amount) signals to achieve a selected speed in block. The cruise control, if including the adaptive cruise control method, may achieve the selected speed based upon the output from the flowchart. Accordingly, if no more than one vehicle or if no vehicles are sensed or detected in front of the motorcycle, the output in blockmay include a selected plus or minus cruise control signal to achieve the determined speed and follow criteria relative to the single vehicle if detected or to just achieve the selected speed if no vehicle is detected. If no more than one or no vehicle is detected, following the signal sent from block, the method may loop to the determination blockof whether the adaptive cruise control is selected ON or OFF. The method may then continue from there, as discussed herein.

1144 1150 1160 1162 1162 1164 10 1100 10 1170 880 960 10 14 FIG. If a vehicle is detected, a YES pathmay be followed to determine if more than one vehicle is detected, particularly more than one vehicle is detected in blockin the lane, then a YES pathis followed to recall the target criteria and be in block. The recalling of the target distances in blockmay be the same criteria recalled in block, but may be recalled if more than one vehicle is detected. Accordingly, after detecting whether more than one vehicle is present in a lane, or at a selected position relative to the motorcycle, the processmay make a determination of whether either of the more than one vehicles is offset from the motorcyclein block. As discussed above, in a staggered formation as illustrated in, at least one of the motorcycles, such as the second motorcycle, may be offset the distancefrom the motorcycle.

1174 1176 1176 1177 1150 1176 1176 1204 1100 1104 1133 1100 If no motorcycle is determined to be offset, a NO pathmay be followed and an output or signal blockmay be followed to achieve or send a cruise control signal to achieve the target criteria B from the closest vehicle in block. Similarly, if no second vehicle is detected a NO pathmay be followed from the determination blockto the send signal block. After sending the cruise control signal in block, a loop pathmay be followed to restart the methodin start blockand/or to the determination blockto determine whether the adaptive cruise control is selected to be ON or OFF. Based on the selection, the methodmay continue form there as discussed herein.

15 FIG. 14 FIG. 880 1000 1000 901 1150 1170 10 10 As illustrated in, even if more than one vehicle is detected the target follow criteria may achieve or be selected relative to the closest vehicle, such as the second motorcycle, to maintain or achieve the criteria. Again the achievement of the selected distance, which may be the same as the distanceillustrated in, may be made and the system may continue to receive inputs regarding whether there is more than one vehicle in the lane in blockand to further determine whether the vehicles are offset in block. Further, the lean angle of the motorcyclemay be used to assist in determining whether the motorcycleis in a turn or curve and, if so, switch from determining whether a second vehicle is to be detected to a single. As noted above, a staggered motorcycle riding formation generally moves to a single file in a curve. A lean angle above a selected amount, e.g. about 10 degrees in a selected direction, may be determined to be a turn in the selected direction.

1170 1180 1190 880 884 880 884 1100 880 884 1190 1194 880 1194 880 1196 1200 272 200 150 40 1200 If it is determined that the vehicles are offset in block, a YES pathis followed to a dual determination blockto measure the following distance from the first vehicle, which may be the target criteria A and to measure the distance from the second vehiclewhich may be the target criteria B. Again, it is understood, that the first and second motorcycles,and their respective target criteria are merely exemplary for the current discussion and the illustration of the flowchart. Nevertheless, once the respective criteria from the first motorcycle and the second motorcycle,are measured they may be compared to the target criteria A and target criteria B. Therefore, the measured criteria from blockmay be input to a determination blockto determine whether the first vehicle or motorcycleis closer than the target criteria in block. If the first vehicle, such as the first motorcycle, is closer than the target criteria A then a YES pathmay be followed to send a cruise control minus command in block. The cruise control minus command may be to slow or send a minus signal to the cruise control system at a selected amount, such as lower speed by 1 mph, 2 mph or any appropriate speed reduction. The change in speed may be due to changing an engine speed, such as with the ECU. Further, or in addition thereto, the cruise control minus signal may be provided as a feedback to the rider(such as an indication on the panel) to slow to achieve a preselected target criteria and the engineis not changed. The sending of the cruise control minus signal in blockmay be any appropriate number of minus signal to achieve the selected target criteria A.

1208 1194 1214 884 1214 1200 1214 884 1220 1221 1221 1100 1204 1133 1100 If the first vehicle is not closer than the target distance A, then a NO pathmay be followed from the determination blockto a determination blockto determine whether the second vehicle, such as the third motorcycle, is closer than the target distance B in block. Similarly, after sending of the cruise control minus signal in blockthe method may continue to the determination block. If the second vehicle, such as the third motorcycleis closer than the target criteria B, then a YES pathmay be followed to send a minus cruise control in blockuntil the target criteria B is achieved, in a manner as discussed above. Following sending the cruise minus in block, the methodmay follow the loopto the determination block. The methodmay then proceed as discussed herein.

1228 1229 1132 1135 1229 1230 1204 1133 a If the second car or vehicle is not closer than the target distance B, a NO pathmay be followed to a determination blockto determine whether the current speed is greater than the set speed. The determination may be made by comparing (such as by executing instructions with a processor in the ECU) the determined current speed and the set speed in blockor. If the current speed is determined to be greater than the set speed, a YES pathis followed to a send cruise control minus signal to achieve the set speed in block. Once the cruise control signal is sent, the method may then proceed along pathand loop to the determination block, as discussed herein.

1229 1229 1232 880 884 880 884 1236 1238 1238 1204 1133 1100 b If the determination in blockis that the current speed is less than (e.g. not greater than) the set speed, a NO pathmay be followed to a determination blockof whether the second motorcycleor the third motorcycleare at the respective target criteria A and B. If the second and third motorcycles,are at the respective criteria A and B, a YES pathmay be followed to a maintain speed block. The maintain speed blockmay not send either a plus or a minus cruise control signal and the loopmay be followed to the determination block, and the methodmay proceed as discussed herein.

10 880 884 1242 1242 1243 1132 If, however, the target criteria between the motorcycleand either of the second motorcycleor the third motorcycleis not achieved or is less than the target criteria (e.g. shorter distance or less time), a NO pathmay be followed. The NO pathmay go to a determination blockto first determine is the set initial speed (i.e. block) is met.

1244 1246 10 1132 1135 1246 1204 1133 1100 If the current speed is at or less than the set initial speed a YES pathpath may be followed to send a cruise control plus signal in block. The cruise control plus signal may be an appropriate signal that is to increase the speed of the motorcycleto the set speed that has been recalled from blockor block. Following the send cruise control plus signal in block, the loop processmay be entered to return to blockand the methodmay proceed from there, as discussed herein.

1132 1135 1245 1238 10 1100 1204 1238 1133 If the current speed is determined to not be less than (i.e. greater than) the initial set speedor the save speed in blockthen a NO pathmay be followed to send a cruise control minus command and/or a cruise control maintain speed in blockto slow or maintain the speed of the motorcycle. Once the appropriate signal has been sent to the adaptive cruise control system, the methodmay enter the loop processfrom the blockto block, as discussed herein.

10 880 884 1100 1200 1230 1246 10 As discussed above, if the motorcycleis too close to any of the respective vehicles, such as the second motorcycleor the third motorcycle, the flowchartmay cause a cruise control minus command in block,. Accordingly, the cruise control plus command in blockmay only be sent when it is determined that the motorcycleis too far (e.g. a distance or time greater than a selected target criteria) from the forward motorcycles, also referred to as the targeted or system identified forward motorcycles.

150 160 200 10 1246 1104 Again, the send cruise control plus signal may include providing an indication, such as a visual indication on the paneland/or display, to the riderto increase speed to achieve a preselected (i.e. target) distance. The signal may also be a selected signal that automatically increases the speed of the motorcycle, such as sent to the ECU to operate the throttle control. After sending the cruise command plus command in block, however, the loop path may be followed to initiate the method again at start.

10 350 250 10 101 10 10 In the motorcycle, as discussed above, a plurality of the sensors, such as the sensorand the sensorare may be included. It is understood, however, that additional sensors may be provided to acquire additional environmental information relative to the motorcycle. For example, two or more radar assemblies may be directed at relative angles to the long axisof the motorcycle. The additional radar assemblies, or selected sensor assemblies, may provide additional or redundant information regarding positions, speed, etc. of objects in an environment (e.g. external) of the motorcycle.

10 1100 10 880 884 10 Accordingly, the motorcyclemay include the intelligent or adaptive cruise control method or process illustrated into achieve the target follow criteria between the motorcycleand vehicles, such as respective motorcycles including the second motorcycle, and the third motorcyclethat are forward of the first motorcycle.

200 160 450 10 200 1100 10 200 10 th The various send cruise control signals may include sending an indication to the riderto slow or increase speed. Such indications may include visual indications with the displayand/or lights. Further, the haptic feedback systemmay provide further indications. Also, the ADC may further have included limitations where an automatic slowing of the motorcycle may occur to a selected speed when the motorcycleis in a selected gear, but an indication is given to the riderwhen a slower speed is needed, but the motorcycle is in too high a gear. For example, the ADC in methodhas determined that the motorcycleshould slow to less than 20 mph, but the motorcycle is in 4gear. In such an instance, an indication may be sent to the riderto manually shift and slow the motorcyclerather than the ADC automatically slowing the motorcycle such as with slowing the engine.

16 16 FIGS.A andB 16 16 FIGS.A andB 17 FIG. 1100 10 1100 1300 1300 1204 1133 1300 1100 illustrate a process or methodfor an adaptive cruise control system to control the speed of a motorcycle, according to various embodiments. The cruise control or adaptive cruise control of the processillustrated in, may be augmented or adapted to include a cut-out or pre-loop sequenceillustrated in. For example, the methodmay be inserted or read out from memory, wherein the method is encoded as instructions to be executed by a selected processor, in the loopprior to executing block. It is understood, however, that the processmay also be a separate process that is independent of the method.

1300 10 10 1246 1300 1300 1310 650 600 10 10 10 650 600 10 10 16 FIG.A 17 FIG. In the selected process, it may be optionally selected to perform an additional determination or consideration prior to sending a speed increase or a cruise control plus signal to the cruise control system for the motorcycleto increase the speed of the motorcycle. As illustrated in, if a cruise plus or increase cruise speed signal is sent, such as from block, the signal may enter the selective loop or determination, as illustrated in. The process, therefore, is operable to determine whether the motorcycle is cornering at speed or is already at a lean angle at or above a threshold in block. For example the IMUand/or lean angle sensorsmay provide input or signals that may be used to determine whether the motorcycle is leaning for a turn or in a curve. In addition, as discussed above, various lean angle systems may be used to assist and determine the lean angle of the motorcycle. If the motorcycle is leaning at a an angle greater than a selected threshold, such as about greater than 10 degrees from vertical relative to a road surface, the motorcycle'scruise control system may be used to determine that the motorcycleis leaning or in a curve. Further, an amount of handle bar turn and/or determined angle from the lean determination systems (e.g. IMUor sensors) may be used to determine that the motorcycleis leaned and/or in a curve. Also, it may be determined to further access the speed of the motorcyclewhile leaning. For example, if the speed is greater than about 5 mph it may be determined that the motorcycle is at a selected speed or above a selected threshold speed for turning or in a curve.

1314 1320 1320 10 200 10 If it is determined that the motorcycle is cornering or in a turn at a selected speed, a YES pathmay be followed and the increase speed or cruise control plus signal is not sent (e.g. blocked to terminated) to the cruise control in block. By not sending the increase speed signal to the cruise control in block, the speed of the motorcyclemay be maintained or selected manually by the rider. This may assist in ensuring that the speed of the motorcycle is maintained at a selected speed in a curve. It may also be used to ensure that a change speed of any type is not sent to the cruise control, such that a selected speed is maintained to assist in maintaining balance and control of the motorcycleduring the cornering or leaning procedure.

10 200 1100 200 1100 1300 10 200 For example, while operating the motorcycle, the ridermay selected to corner a selected curve at a selected speed. If the motorcycle is in a curve, however, and the adaptive cruise control processdetermines that the motorcycle should increase or decrease in speed, the rider, while cornering, may not desire or select to have the speed of the motorcycle change. Therefore, the adaptive cruise controlmay apply the optional processto maintain the speed of the motorcycleat the speed, such as manually, by the rider.

1310 1330 1330 1334 1100 If it is determined that the motorcycle is not leaning and/or cornering in block, a NO pathmay be followed. If the No pathis followed, the send or transmit command to change the speed to the adaptive cruise control may be made in block. Accordingly, if it is determined that the motorcycle is not leaned at or above a selected threshold angle and/or not cornering, the change of speed command may be sent to the cruise control as discussed above, such as in the process.

1300 10 1300 10 10 Accordingly, the selected lean and/or cornering processmay be used to assist in achieving a selected stability of the motorcyclewhile cornering and/or leaning. The optional process, therefore, may be used to ensure that the motorcycleis maintained in a stable and selected speed during a turn and/or maneuvering a curve and achieve stability and confidence in the motorcycle.

The foregoing description of the embodiments has been provided for purposes of illustration and description. It is not intended to be exhaustive or to limit the disclosure. Individual elements or features of a particular embodiment are generally not limited to that particular embodiment, but, where applicable, are interchangeable and can be used in a selected embodiment, even if not specifically shown or described. The same may also be varied in many ways. Such variations are not to be regarded as a departure from the disclosure, and all such modifications are intended to be included within the scope of the disclosure.

Example embodiments are provided so that this disclosure will be thorough, and will fully convey the scope to those who are skilled in the art. Numerous specific details are set forth such as examples of specific components, devices, and methods, to provide a thorough understanding of embodiments of the present disclosure. It will be apparent to those skilled in the art that specific details need not be employed, that example embodiments may be embodied in many different forms and that neither should be construed to limit the scope of the disclosure. In some example embodiments, well-known processes, well-known device structures, and well-known technologies are not described in detail.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used herein, the singular forms “a,” “an,” and “the” may be intended to include the plural forms as well, unless the context clearly indicates otherwise.